/****************************************Copyright (c)****************************************************
**                            				 SJTU
**
**                                 05liwang@sjtu.edu.cn
**
**--------------File Info---------------------------------------------------------------------------------
** File name:           NOF.h
** Last modified Date:  2019-4-24
** Last Version:        V1.00
** Descriptions:        the NO function 
**
**------------------------------------------------------------------------------------------------------
** Created by:          liwang
** Created date:        2019-4-24
** Version:             V1.00
** Descriptions:        The original version
**
**------------------------------------------------------------------------------------------------------
** Modified by:
** Modified date:
** Version:
** Descriptions:
**
*********************************************************************************************************/
#ifndef NOF_H
#define NOF_H

#ifdef __cplusplus
extern "C" {
#endif
/*********************************************************************************************************
* Function name:        frne_mdh
* Descriptions:         get the desired torque
* input parameters:		q (dimension :6), qd(dimension :6), qdd(dimension :6)
						q : angle of the joint 1-6
						qd : velocity of the joint 1-6
						qdd : acceleration  of the joint 1-6
* output parameters:    torque (dimension :6)
* Returned value:       1
*********************************************************************************************************/
int frne_mdh(double* q, double* qd, double* qdd, double* t);
#ifdef __cplusplus
}
#endif

#ifdef __cplusplus
extern "C" {
#endif
int sign(double value);
#ifdef __cplusplus
}
#endif

#endif  // NOF_H
